skip to main content
DOE Patents title logo U.S. Department of Energy
Office of Scientific and Technical Information

Title: Coordinated joint motion control system with position error correction

Abstract

Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.

Inventors:
Issue Date:
Research Org.:
Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno, NV (United States)
Sponsoring Org.:
USDOE
OSTI Identifier:
1245438
Patent Number(s):
9,304,501
Application Number:
14/798,254
Assignee:
Board of Regents of the Nevada System of Higher Education, on behalf of the University of Nevada, Reno (Reno, NV)
DOE Contract Number:  
FC26-04NT42087
Resource Type:
Patent
Resource Relation:
Patent File Date: 2015 Jul 13
Country of Publication:
United States
Language:
English
Subject:
42 ENGINEERING; 97 MATHEMATICS AND COMPUTING

Citation Formats

Danko, George L. Coordinated joint motion control system with position error correction. United States: N. p., 2016. Web.
Danko, George L. Coordinated joint motion control system with position error correction. United States.
Danko, George L. Tue . "Coordinated joint motion control system with position error correction". United States. https://www.osti.gov/servlets/purl/1245438.
@article{osti_1245438,
title = {Coordinated joint motion control system with position error correction},
author = {Danko, George L.},
abstractNote = {Disclosed are an articulated hydraulic machine supporting, control system and control method for same. The articulated hydraulic machine has an end effector for performing useful work. The control system is capable of controlling the end effector for automated movement along a preselected trajectory. The control system has a position error correction system to correct discrepancies between an actual end effector trajectory and a desired end effector trajectory. The correction system can employ one or more absolute position signals provided by one or more acceleration sensors supported by one or more movable machine elements. Good trajectory positioning and repeatability can be obtained. A two joystick controller system is enabled, which can in some cases facilitate the operator's task and enhance their work quality and productivity.},
doi = {},
journal = {},
number = ,
volume = ,
place = {United States},
year = {2016},
month = {4}
}

Patent:

Save / Share:

Works referenced in this record:

An Architecture for Autonomy
journal, April 1998

  • Alami, R.; Chatila, R.; Fleury, S.
  • The International Journal of Robotics Research, Vol. 17, Issue 4
  • DOI: 10.1177/027836499801700402

Model-Based Three-Dimensional Interpretations of Two-Dimensional Images
journal, March 1983

  • Brooks, Rodney A.
  • IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. PAMI-5, Issue 2
  • DOI: 10.1109/TPAMI.1983.4767366

Experimental implementation of complex path tracking control for large robotic hydraulic excavators
journal, January 2004

  • Chiang, M. -H.; Huang, C. -C.
  • The International Journal of Advanced Manufacturing Technology, Vol. 23, Issue 1-2
  • DOI: 10.1007/s00170-003-1636-8

Mining machine control in virtual working kinematics
journal, September 2013


System and periodic disturbance identification for feedforward-feedback control of flexible spacecraft
conference, February 2013

  • Goodzeit, Neil; Phan, Minh; Goodzeit, Neil
  • 35th Aerospace Sciences Meeting and Exhibit
  • DOI: 10.2514/6.1997-682

Proportional‐Integral‐Plus Control of an Intelligent Excavator
journal, December 2003


Digging control system for hydraulic excavator
journal, September 2001


A study of the interaction between operator style and machine capability for a hydraulic mining excavator
journal, May 2005

  • Hall, A. S.; McAree, P. R.
  • Proceedings of the Institution of Mechanical Engineers, Part C: Journal of Mechanical Engineering Science, Vol. 219, Issue 5
  • DOI: 10.1243/095440605X31418

Modelling, analysis and preliminary studies for automatic scooping
journal, January 1993


Fundamental Analysis of Automatic Excavation
journal, October 1995


Identification of system, observer, and controller from closed-loop experimental data
journal, January 1994

  • Juang, Jer-Nan; Phan, Minh
  • Journal of Guidance, Control, and Dynamics, Vol. 17, Issue 1
  • DOI: 10.2514/3.21163

A New Approach to Linear Filtering and Prediction Problems
journal, March 1960

  • Kalman, R. E.
  • Journal of Basic Engineering, Vol. 82, Issue 1
  • DOI: 10.1115/1.3662552

Control of a heavy-duty robotic excavator using time delay control with switching action with integral sliding surface
conference, January 2001

  • Sung-Uk Lee,
  • Proceedings 2001 ICRA. IEEE International Conference on Robotics and Automation (Cat. No.01CH37164)
  • DOI: 10.1109/ROBOT.2001.933234

Fast and globally convergent pose estimation from video images
journal, June 2000

  • Lu, C. -P.; Hager, G. D.; Mjolsness, E.
  • IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 22, Issue 6
  • DOI: 10.1109/34.862199

Improvement of Observer/Kalman Filter Identification (OKID) by Residual Whitening
journal, April 1995

  • Phan, M.; Horta, L. G.; Juang, J. -N.
  • Journal of Vibration and Acoustics, Vol. 117, Issue 2
  • DOI: 10.1115/1.2873927

A concept of digital control system to assist the operator of hydraulic excavators
journal, July 1998


Marker detection and trajectory generation algorithms for a multicamera based gait analysis system
journal, June 2001


Task Planning For Robotic Excavation
conference, January 1992

  • Singh, S.; Simmons, R.
  • Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems
  • DOI: 10.1109/IROS.1992.594551

Bucket trajectory classification of mining excavators
journal, May 2013


High performance swing velocity tracking control of hydraulic excavators
conference, January 1998

  • Bin Yao, ; Koehler, D.
  • Proceedings of the 1998 American Control Conference (ACC), Proceedings of the 1998 American Control Conference. ACC (IEEE Cat. No.98CH36207)
  • DOI: 10.1109/ACC.1998.703522